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@Article { StegagnoCOBF2016,
title = {Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements},
journal = {IEEE Transactions on Robotics},
year = {2016},
month = {10},
volume = {32},
number = {5},
pages = {1133-1151},
abstract = {We present a decentralized algorithm for estimating mutual poses (relative positions and orientations) in a group of mobile robots. The algorithm uses relative-bearing measurements, which, for example, can be obtained from onboard cameras, and information about the motion of the robots, such as inertial measurements. It is assumed that all relative-bearing measurements are anonymous; i.e., each specifies a direction along which another robot is located but not its identity. This situation, which is often ignored in the literature, frequently arises in practice and remarkably increases the complexity of the problem. The proposed solution is based on a two-step approach: in the first step, the most likely unscaled relative configurations with identities are computed from anonymous measurements by using geometric arguments, while in the second step, the scale is determined by numeric Bayesian filtering based on the motion model. The solution is first developed for ground robots in SE (2) and then for aerial robots in SE (3). Experiments using Khepera III ground mobile robots and quadrotor aerial robots confirm that the proposed method is effective and robust w.r.t. false positives and negatives of the relative-bearing measuring process.},
department = {Department B{\"u}lthoff},
web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7562373},
DOI = {10.1109/TRO.2016.2593454},
author = {Stegagno, P and Cognetti, M and Oriolo, G and B{\"u}lthoff, HH and Franchi, A}
}
@Inproceedings { CognettiOPRS2014,
title = {Cooperative Control of a Heterogeneous Multi-Robot System
based on Relative Localization},
year = {2014},
month = {9},
pages = {350-356},
abstract = {We propose a cooperative control scheme for a
heterogeneous multi-robot system, consisting of an Unmanned
Aerial Vehicle (UAV) equipped with a camera and multiple
identical Unmanned Ground Vehicles (UGVs). Our control
scheme takes advantage of the different capabilities of the
robots. Since the system is highly redundant, the execution
of multiple different tasks is possible. The primary task is
aimed at keeping the UGVs well inside the camera field of
view, so as to allow our localization system to reconstruct the identity and relative pose of each UGV with respect to the UAV. Additional tasks include formation control, navigation and obstacle avoidance. We thoroughly discuss the feasibility of each task, proving convergence when possible. Simulation results are presented to validate the proposed method.},
url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2014/IROS-2014-Cognetti.pdf},
department = {Department B{\"u}lthoff},
web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6942583},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_place = {Chicago, IL, USA},
event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)},
DOI = {10.1109/IROS.2014.6942583},
author = {Cognetti, M and Oriolo, G and Peliti, P and Rosa, L and Stegagno, P}
}
@Inproceedings { StegagnoCRPO2013,
title = {Relative localization and identification in a heterogeneous multi-robot system},
year = {2013},
month = {5},
pages = {1857-1864},
abstract = {We develop a localization method for a single-UAV/multi-UGV heterogeneous system of robots. Considering the natural supervisory role of the UAV and the challenging (but realistic) assumption that the UAV-to-UGV measurements do not include the identities of the UGVs, we have adopted the PHD filter as a multi-target tracking technique. However, the standard version of this filter does not take into account odometric information coming from the targets, nor does it solve the problem of estimating their identities. Hence, we design ID-PHD, a modification of the PHD filter that is able to reconstruct the identities of the targets by incorporating odometric data. The proposed localization method has been successfully validated through experiments. Some preliminary results of a localization-based control scheme for the multi-robot system are also presented.},
url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/ICRA-2013-Stegagno.pdf},
web_url = {http://www.icra2013.org/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_place = {Karlsruhe, Germany},
event_name = {IEEE International Conference on Robotics and Automation (ICRA 2013)},
ISBN = {978-1-4673-5641-1},
DOI = {10.1109/ICRA.2013.6630822},
author = {Stegagno, P and Cognetti, M and Rosa, L and Peliti, P and Oriolo, G}
}
@Inproceedings { CognettiSFO2012,
title = {Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems},
journal = {IFAC Proceedings Volumes},
year = {2012},
month = {10},
volume = {45},
number = {28},
pages = {13-18},
abstract = {We present a method for reconstructing the relative poses among the components of a multi-UAV system using anonymous (i.e., without identity information) robot-to-robot measurements. We consider two cases: bearing-only and bearing+distance measurements. While bearing can be rather directly extracted from a camera image, visual reconstruction of distances is more elaborate and typically associated with a larger noise. Nevertheless, our experiments show that use of such metric information improves significantly the quality of the localization.},
url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2012l-CogSteFraOri-preprint.pdf},
department = {Department B{\"u}lthoff},
web_url = {http://www.sciencedirect.com/science/article/pii/S1474667015338751},
editor = {Halme, A. , J. Suomela},
publisher = {International Federation of Automatic Control},
address = {New York, NY, USA},
event_place = {Espoo, Finland},
event_name = {2nd IFAC Workshop on Multivehicle Systems (MVS 2012)},
ISBN = {978-3-902823-15-1},
DOI = {10.3182/20121003-3-SF-4024.00006},
author = {Cognetti, M and Stegagno, P and Franchi, A and Oriolo, G}
}
@Inproceedings { CognettiSFOB2012,
title = {3-D Mutual Localization with Anonymous Bearing Measurements},
year = {2012},
month = {5},
pages = {791-798},
abstract = {We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bearing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case [1], and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.},
url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2012c-CogSteFraOriBue.pdf},
department = {Department B{\"u}lthoff},
web_url = {http://www.icra2012.org/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_place = {St. Paul, MN, USA},
event_name = {IEEE International Conference on Robotics and Automation (ICRA 2012)},
DOI = {10.1109/ICRA.2012.6225288},
author = {Cognetti, M and Stegagno, P and Franchi, A and Oriolo, G and B{\"u}lthoff, HH}
}
@Inproceedings { StegagnoCFO2011,
title = {Mutual localization using anonymous bearing measurements},
year = {2011},
month = {9},
pages = {469-474},
abstract = {This paper addresses the problem of mutual localization in multi-robot systems in presence of anonymous (i.e., without the identity information) bearing-only measurements. The solution of this problem is relevant for the design and implementation of any decentralized multi-robot algorithm/control. A novel algorithm for probabilistic multiple registration of these measurements is presented, where no global localization, distances, or identity are used. With respect to more conventional solutions that could be conceived on the basis of the current literature, our method is theoretically suitable for tasks requiring frequent, many-to-many encounters among agents (e.g., formation control, cooperative exploration, multiple-view environment sensing). An extensive experimental study validates our method and compares it with the full-informative case of bearing-plus-distance measurements. The results show that the proposed localization system exhibits an accuracy commensurate to our previous method [1] which uses bearing-plus-distance information.},
url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/IROS-2011-Stegnano.pdf},
department = {Department B{\"u}lthoff},
web_url = {http://www.iros2011.org/},
editor = {Amato, N.M.},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_place = {San Francisco, CA, USA},
event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)},
ISBN = {978-1-61284-454-1},
DOI = {10.1109/IROS.2011.6094635},
author = {Stegagno, P and Cognetti, M and Franchi, A and Oriolo, G}
}